#include <PIDDrone.h>

Inheritance diagram for APIDDrone:

[legend]

Collaboration diagram for APIDDrone:

[legend]

Public Member Functions
	APIDDrone ()

virtual EVehicleTypes	GetVehicleType () const override

virtual FTransform	GetInteractableWorldTransform_Implementation () const override

void	SetDroneAction (EDroneAction mode)
	Set drone's action (roaming, manual) More...

EDroneAction	GetDroneAction () const
	Get drone's action (roaming, manual) More...

FDroneParameters	GetDroneParameters () const

void	ChangeDroneParameters (const FDroneParameters &newParameters)

void	SetDroneParameters (const FDroneParameters &InParameters)

void	AddWayPoint (FVector Waypoint)

void	ClearWaypoints ()

void	FlySetFlightpath ()
	Called in tick function for drone roaming through points. More...

void	SetManualControl (bool value)

void	MoveDroneToPosition (const FTransform Transform)
	Override all drone roaming points and continue towards this position. More...

TArray< FTransform >	GenerateRoamingPoints (float radius, int32 roamingPoints)
	Generates a roadming points array for the drone in radius. More...

virtual void	SetCurrentTransformToMovedFromGarageTransform () override

Public Member Functions inherited from AVehicle
	AVehicle ()

virtual EVehicleTypes	GetVehicleType () const

virtual FString	GetTopicName ()

void	TogglePhysics (bool isOn)

void	TeleportVehicleTo (FVector NewLocation, FRotator NewRotation)

virtual void	TeleportVehicleTo_Implementation (FVector NewLocation, FRotator NewRotation)

void	ResetCamera ()

void	ToggleLights (bool isOn)

void	SetVisualizeVehicleOverlapArea (bool Visible)

FString	ExportToJsonFile (const FString &FileName)

void	SetVehicleIsInGarage (bool VehicleIsInGarage)

bool	IsVehicleInGarage () const

USensorsManagerComponent *	GetSensorsManager () const

ACollisionSensor *	GetCollisionSensor () const

ATransformSensor *	GetTransformSensor () const

AOverlapSensor *	GetOverlapSensor () const

FTransform	GetMovedFromGarageTransform () const

virtual void	SetCurrentTransformToMovedFromGarageTransform ()

virtual FText	GetInteractableName_Implementation () const override

virtual FTransform	GetInteractableWorldTransform_Implementation () const override

virtual FString	GetActorID_Implementation () const override

virtual FString	GetActorName_Implementation () const override

virtual FString	GetActorInformation_Implementation () const override

virtual void	SetActorName_Implementation (const FString &NewActorName) override

virtual void	SetActorIDAndName_Implementation (const FString &NewActorName, const FString &NewID) override

virtual void	PossessedBy (AController *NewController) override

Public Member Functions inherited from IInteractable
FText	GetInteractableName () const

FTransform	GetInteractableWorldTransform () const

Public Member Functions inherited from IActorInformation
FString	GetActorID () const

FString	GetActorName () const

FString	GetActorInformation () const

void	SetActorName (const FString &NewActorName)

void	SetActorIDAndName (const FString &NewActorName, const FString &NewID)

Private Member Functions
virtual void	BeginPlay () override

virtual void	Tick (float DeltaTime) override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

void	AutoPilot (float DeltaTime)

bool	IsRoaming () const

void	SetDesiredLocationMesh (UStaticMeshComponent *meshcomponent)

void	AssignRoamingPoints (const TArray< FTransform > Points)

void	SetDroneRotation (USkeletalMeshComponent *target, FRotator rotator)

FVector	GetCurrentWaypointTarget ()

Private Attributes
FDroneParameters	DroneParameters

EFlightMode	flightmode = EFlightMode::Roaming

UWorld *	World = nullptr

FVector	StartingPosition

USkeletalMeshComponent *	mesh = nullptr

UStaticMeshComponent *	desiredPositionMesh = nullptr

bool	waypointReached = false

bool	manualControl = false

TArray< FVector >	WayPoints

int32	passedWaypoints = 0

Additional Inherited Members
Static Public Member Functions inherited from IActorInformation
static void	SetAndValidateActorIDAndName (FString &ActorName, FString &ActorID, TWeakObjectPtr< AActor > Actor)

static bool	DestroyActorByID (const FString &ID)

static AActor *	GetActorByID (const FString &ID)

template<typename T >
static TArray< T * >	GetActorsWithInterface ()

static void	PrintAllIds ()

Public Attributes inherited from AVehicle
FText	InteractableName

FVehicleGarageChangedDelegate	OnVehicleGarageChanged

virtual void	BeginPlay () override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

Protected Attributes inherited from AVehicle
TObjectPtr< USensorsManagerComponent >	SensorsManager

ACollisionSensor *	CollisionSensor = nullptr

ATransformSensor *	TransformSensor = nullptr

AOverlapSensor *	OverlapSensor = nullptr

UNiagaraComponent *	NiagaraComponent = nullptr

FString	ActorName

FString	ActorID

FTransform	OriginalCameraTransform

FTransform	MovedFromGarageTransform

bool	VehicleInGarage = false

Detailed Description

Definition at line 17 of file PIDDrone.h.

Constructor & Destructor Documentation

◆ APIDDrone()

APIDDrone::APIDDrone ( )

Definition at line 20 of file PIDDrone.cpp.

                     : Super()
{
    PrimaryActorTick.bCanEverTick = true;
    InteractableName = NSLOCTEXT("Agrarsense", "DroneInteractableName", "Drone");
}

References AVehicle::InteractableName.

Member Function Documentation

◆ AddWayPoint()

void APIDDrone::AddWayPoint ( FVector Waypoint )

inline

Definition at line 83 of file PIDDrone.h.

    {
        FTransform transform;
        transform.SetLocation(Waypoint);
 
        DroneParameters.Points.Add(transform);
    }

References FDroneParameters::Points.

◆ AssignRoamingPoints()

void APIDDrone::AssignRoamingPoints ( const TArray< FTransform > Points )

private

Definition at line 148 of file PIDDrone.cpp.

{
    // Empty current waypoints if any
    ClearWaypoints();
 
    for (const FTransform& point : Points)
    {
        // Assing new waypoints to the array
        WayPoints.Add(point.GetLocation());
    }
}

References ClearWaypoints(), and WayPoints.

◆ AutoPilot()

void APIDDrone::AutoPilot ( float DeltaTime )

private

Definition at line 219 of file PIDDrone.cpp.

{
    if (DroneParameters.DroneAction == EDroneAction::Stationary)
    {
        return;
    }
    
    FlySetFlightpath();
}

References FDroneParameters::DroneAction, DroneParameters, FlySetFlightpath(), and Stationary.

Referenced by Tick().

◆ BeginPlay()

void APIDDrone::BeginPlay ( )

overrideprivatevirtual

Reimplemented from AVehicle.

Definition at line 26 of file PIDDrone.cpp.

{
    Super::BeginPlay();
 
    World = GetWorld();
 
    mesh = Cast<USkeletalMeshComponent>(GetComponentByClass(USkeletalMeshComponent::StaticClass()));
    desiredPositionMesh = Cast<UStaticMeshComponent>(GetComponentByClass(UStaticMeshComponent::StaticClass()));
 
    StartingPosition = GetActorLocation();
}

References desiredPositionMesh, mesh, StartingPosition, and World.

◆ ChangeDroneParameters()

void APIDDrone::ChangeDroneParameters ( const FDroneParameters & newParameters )

inline

Definition at line 69 of file PIDDrone.h.

    {
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("Parameters Changed!"));
#endif
        SetDroneParameters(newParameters);
    }

Referenced by USimulatorJsonParser::ParseAndSetDroneParameters().

◆ ClearWaypoints()

void APIDDrone::ClearWaypoints ( )

inline

Definition at line 92 of file PIDDrone.h.

    {
        DroneParameters.Points.Empty();
    }

Referenced by AssignRoamingPoints().

◆ EndPlay()

void APIDDrone::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overrideprivatevirtual

Reimplemented from AVehicle.

Definition at line 38 of file PIDDrone.cpp.

{
    Super::EndPlay(EndPlayReason);
}

◆ FlySetFlightpath()

void APIDDrone::FlySetFlightpath ( )

Called in tick function for drone roaming through points.

Definition at line 53 of file PIDDrone.cpp.

{
    // TODO: Check if in garage
    // include drone rotation to point
 
    // Don't try to fly if no waypoints
    if (DroneParameters.Points.Num() == 0 && IsRoaming())
    {
        DroneParameters.Points = GenerateRoamingPoints(50000, 10);
    }
 
    FVector waypoint = GetCurrentWaypointTarget();
    FVector currentlocation = mesh->GetRelativeTransform().GetLocation();
 
    if (desiredPositionMesh)
    {
        // Doesn't work
        desiredPositionMesh->SetWorldLocation(waypoint);
    }
#if WITH_EDITOR
    else
    {
        UE_LOG(LogTemp, Warning, TEXT("Desired location mesh not found"));
        //DrawDebugLine(World, currentlocation, waypoint, FColor::Red, false, 0.0f, 0.0f, 5.0f);
    }
#endif
 
    if (FVector2f::Distance(FVector2f(waypoint.X, waypoint.Y), FVector2f(currentlocation.X, currentlocation.Y)) < 1000)
    {
        waypointReached = true;
        if (passedWaypoints != DroneParameters.Points.Num() - 1)
        {
#if WITH_EDITOR
            UE_LOG(LogTemp, Warning, TEXT("Changing waypoint from %i to %i"), passedWaypoints, passedWaypoints + 1);
#endif
 
            passedWaypoints++;
        }
        else
        {
            if (DroneParameters.DroneAction == EDroneAction::Roaming)
            {
                DroneParameters.Points = GenerateRoamingPoints(50000, 10);
                passedWaypoints = 0;
            }
            else
            {
                switch (DroneParameters.DroneEndAction)
                {
                case EDroneEndAction::Stop:
                    DroneParameters.DroneAction = EDroneAction::Stationary;
                    break;
                case EDroneEndAction::GenerateRandomNew:
                    DroneParameters.Points = GenerateRoamingPoints(50000, 10);
                    passedWaypoints = 0;
                    break;
                case EDroneEndAction::RepeatFromBeginning:
                    passedWaypoints = 0;
                    break;
                case EDroneEndAction::GoBackwards:
                    Algo::Reverse(DroneParameters.Points);
                    passedWaypoints = 0;
                    break;
                default:
                    break;
                }
            }
        }
    }
}

References desiredPositionMesh, FDroneParameters::DroneAction, FDroneParameters::DroneEndAction, DroneParameters, GenerateRandomNew, GenerateRoamingPoints(), GetCurrentWaypointTarget(), GoBackwards, IsRoaming(), mesh, passedWaypoints, FDroneParameters::Points, RepeatFromBeginning, Roaming, Stationary, Stop, and waypointReached.

Referenced by AutoPilot().

◆ GenerateRoamingPoints()

TArray< FTransform > APIDDrone::GenerateRoamingPoints	(	float	radius,
		int32	roamingPoints
	)

Generates a roadming points array for the drone in radius.

Parameters

radius radius of the roaming area

Returns: TArray<FVector>

Definition at line 195 of file PIDDrone.cpp.

{
    TArray<FTransform> generatedRoamingPoints;
    generatedRoamingPoints.Reserve(roamingPoints);
 
    FVector currentPosition = this->GetTransform().GetLocation();
 
    FVector min = currentPosition - FVector(radius / 2, radius / 2, 0);
    FVector max = currentPosition + FVector(radius / 2, radius / 2, 0);
 
    for (int32 i = 0; i < roamingPoints; i++)
    {
        FTransform randomPoint;
        randomPoint.SetLocation(FVector(FMath::RandRange(min.X, max.X), FMath::RandRange(min.Y, max.Y), 5000));
 
        generatedRoamingPoints.Add(randomPoint);
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("Waypoint %i: (%s)"), i, *randomPoint.GetLocation().ToString());
#endif
    }
 
    return generatedRoamingPoints;
}

Referenced by FlySetFlightpath().

◆ GetCurrentWaypointTarget()

FVector APIDDrone::GetCurrentWaypointTarget ( )

private

Definition at line 137 of file PIDDrone.cpp.

{
    // UE_LOG(LogTemp, Warning, TEXT(" % s"), *DroneParameters.Points[passedWaypoints].GetLocation().ToString());
    if (DroneParameters.Points.Num() <= passedWaypoints)
    {
        return FVector(0, 0, 0);
    }
 
    return DroneParameters.Points[passedWaypoints].GetLocation();
}

References DroneParameters, passedWaypoints, and FDroneParameters::Points.

Referenced by FlySetFlightpath().

◆ GetDroneAction()

EDroneAction APIDDrone::GetDroneAction ( ) const

inline

Get drone's action (roaming, manual)

Returns: Drone's action

Definition at line 57 of file PIDDrone.h.

    {
        return DroneParameters.DroneAction;
    }

◆ GetDroneParameters()

FDroneParameters APIDDrone::GetDroneParameters ( ) const

inline

Definition at line 63 of file PIDDrone.h.

    {
        return DroneParameters;
    }

Referenced by USimulatorJsonExporter::SetDroneParameters().

◆ GetInteractableWorldTransform_Implementation()

virtual FTransform APIDDrone::GetInteractableWorldTransform_Implementation ( ) const

inlineoverridevirtual

Reimplemented from AVehicle.

Definition at line 31 of file PIDDrone.h.

    {
        if (mesh)
        {
            return mesh->GetComponentTransform();
        }
        else
        {
            return GetActorTransform();
        }
    }

◆ GetVehicleType()

virtual EVehicleTypes APIDDrone::GetVehicleType ( ) const

inlineoverridevirtual

Get type of the Vehicle

Returns: Vehicle's type

Reimplemented from AVehicle.

Definition at line 29 of file PIDDrone.h.

29{ return EVehicleTypes::Drone; }

EVehicleTypes::Drone

@ Drone

References Drone.

◆ IsRoaming()

bool APIDDrone::IsRoaming ( ) const

inlineprivate

Definition at line 150 of file PIDDrone.h.

    {
        return DroneParameters.DroneAction == EDroneAction::Roaming;
    }

References Roaming.

Referenced by FlySetFlightpath().

◆ MoveDroneToPosition()

void APIDDrone::MoveDroneToPosition ( const FTransform Transform )

Override all drone roaming points and continue towards this position.

Parameters

Transform drone move position

Definition at line 124 of file PIDDrone.cpp.

{
    if (DroneParameters.Points.Num() > 0)
    {
        DroneParameters.Points.Empty();
        DroneParameters.Points.Add(Transform);
    }
    else
    {
        DroneParameters.Points.Add(Transform);
    }
}

References DroneParameters, FDroneParameters::Points, and Transform.

◆ SetCurrentTransformToMovedFromGarageTransform()

virtual void APIDDrone::SetCurrentTransformToMovedFromGarageTransform ( )

inlineoverridevirtual

Reimplemented from AVehicle.

Definition at line 123 of file PIDDrone.h.

    {
        if (mesh)
        {
            MovedFromGarageTransform = mesh->GetComponentTransform();
            UE_LOG(LogTemp, Warning, TEXT("Moved from garage transform %s"), *MovedFromGarageTransform.ToString());
 
        }
        else
        {
            MovedFromGarageTransform = GetActorTransform();
            UE_LOG(LogTemp, Warning, TEXT("ACTOR Moved from garage transform WHAT IS THIS: %s"), *MovedFromGarageTransform.ToString());
 
        }
    }

◆ SetDesiredLocationMesh()

void APIDDrone::SetDesiredLocationMesh ( UStaticMeshComponent * meshcomponent )

inlineprivate

Definition at line 156 of file PIDDrone.h.

    {
        desiredPositionMesh = meshcomponent;
    }

◆ SetDroneAction()

void APIDDrone::SetDroneAction ( EDroneAction mode )

inline

Set drone's action (roaming, manual)

Definition at line 47 of file PIDDrone.h.

    {
        DroneParameters.DroneAction = mode;
    }

◆ SetDroneParameters()

void APIDDrone::SetDroneParameters ( const FDroneParameters & InParameters )

inline

Definition at line 77 of file PIDDrone.h.

    {
        DroneParameters = InParameters;
    }

◆ SetDroneRotation()

void APIDDrone::SetDroneRotation	(	USkeletalMeshComponent *	target,
		FRotator	rotator
	)

private

Definition at line 160 of file PIDDrone.cpp.

{
    if (!target)
    {
        return;
    }
 
    FRotator rotation = FRotator(
        FMath::Clamp(rotator.Pitch, -2, 2),
        FMath::Clamp(rotator.Yaw, -2, 2),
        FMath::Clamp(rotator.Roll, -2, 2));
 
    FRotator currentRotation = target->GetRelativeRotation();
 
    FRotator rotationDifference = currentRotation - rotator;
 
    if (FMath::Abs(rotator.Pitch) > 0 && FMath::Abs(currentRotation.Pitch) < FMath::Abs(rotationDifference.Pitch))
    {
        target->AddRelativeRotation(FRotator(rotation.Pitch, 0, 0), false, nullptr, ETeleportType::TeleportPhysics);
    }
    if (FMath::Abs(rotator.Yaw) > 0 && FMath::Abs(currentRotation.Yaw) < FMath::Abs(rotationDifference.Yaw))
    {
        target->AddRelativeRotation(FRotator(0, rotation.Yaw, 0), false, nullptr, ETeleportType::TeleportPhysics);
    }
    if (FMath::Abs(rotator.Roll) > 0 && FMath::Abs(currentRotation.Roll) < FMath::Abs(rotationDifference.Roll))
    {
        target->AddRelativeRotation(FRotator(0, 0, rotation.Roll), false, nullptr, ETeleportType::TeleportPhysics);
    }
 
    if (rotator.Pitch == 0 || rotator.Yaw == 0 || rotator.Roll == 0)
    {
        target->AddRelativeRotation(FRotator(-FMath::Clamp(rotationDifference.Pitch, -2, 2), -FMath::Clamp(rotationDifference.Yaw, -2, 2), -FMath::Clamp(rotationDifference.Roll, -2, 2)), false, nullptr, ETeleportType::TeleportPhysics);
    }
}

◆ SetManualControl()

void APIDDrone::SetManualControl ( bool value )

inline

Definition at line 104 of file PIDDrone.h.

    {
        manualControl = value;
    }

◆ Tick()

void APIDDrone::Tick ( float DeltaTime )

overrideprivatevirtual

Definition at line 43 of file PIDDrone.cpp.

{
    Super::Tick(DeltaTime);
 
    if (!IsVehicleInGarage())
    {
        AutoPilot(DeltaTime);
    }
}

References AutoPilot(), and AVehicle::IsVehicleInGarage().

Member Data Documentation

◆ desiredPositionMesh

UStaticMeshComponent* APIDDrone::desiredPositionMesh = nullptr

private

Definition at line 181 of file PIDDrone.h.

Referenced by BeginPlay(), and FlySetFlightpath().

◆ DroneParameters

FDroneParameters APIDDrone::DroneParameters

private

Definition at line 170 of file PIDDrone.h.

Referenced by AutoPilot(), FlySetFlightpath(), GetCurrentWaypointTarget(), and MoveDroneToPosition().

◆ flightmode

EFlightMode APIDDrone::flightmode = EFlightMode::Roaming

private

Definition at line 173 of file PIDDrone.h.

◆ manualControl

bool APIDDrone::manualControl = false

private

Definition at line 184 of file PIDDrone.h.

◆ mesh

USkeletalMeshComponent* APIDDrone::mesh = nullptr

private

Definition at line 180 of file PIDDrone.h.

Referenced by BeginPlay(), and FlySetFlightpath().

◆ passedWaypoints

int32 APIDDrone::passedWaypoints = 0

private

Definition at line 192 of file PIDDrone.h.

Referenced by FlySetFlightpath(), and GetCurrentWaypointTarget().

◆ StartingPosition

FVector APIDDrone::StartingPosition

private

Definition at line 178 of file PIDDrone.h.

Referenced by BeginPlay().

◆ waypointReached

bool APIDDrone::waypointReached = false

private

Definition at line 183 of file PIDDrone.h.

Referenced by FlySetFlightpath().

◆ WayPoints

TArray<FVector> APIDDrone::WayPoints

private

Initial value:

= {
        {3790, 8050, 5000},
        {11779.536955,6566.541435,5000}
    }

Definition at line 187 of file PIDDrone.h.

Referenced by AssignRoamingPoints().

◆ World

UWorld* APIDDrone::World = nullptr

private

Definition at line 176 of file PIDDrone.h.

Referenced by BeginPlay().

The documentation for this class was generated from the following files:

Unreal/Agrarsense/Source/Agrarsense/Vehicle/PIDDrone.h
Unreal/Agrarsense/Source/Agrarsense/Vehicle/PIDDrone.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ APIDDrone()

Member Function Documentation

◆ AddWayPoint()

◆ AssignRoamingPoints()

◆ AutoPilot()

◆ BeginPlay()

◆ ChangeDroneParameters()

◆ ClearWaypoints()

◆ EndPlay()

◆ FlySetFlightpath()

◆ GenerateRoamingPoints()

◆ GetCurrentWaypointTarget()

◆ GetDroneAction()

◆ GetDroneParameters()

◆ GetInteractableWorldTransform_Implementation()

◆ GetVehicleType()

◆ IsRoaming()

◆ MoveDroneToPosition()

◆ SetCurrentTransformToMovedFromGarageTransform()

◆ SetDesiredLocationMesh()

◆ SetDroneAction()

◆ SetDroneParameters()

◆ SetDroneRotation()

◆ SetManualControl()

◆ Tick()

Member Data Documentation

◆ desiredPositionMesh

◆ DroneParameters

◆ flightmode

◆ manualControl

◆ mesh

◆ passedWaypoints

◆ StartingPosition

◆ waypointReached

◆ WayPoints

◆ World